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iCub::iDyn::SensorLinkNewtonEuler Class Reference

#include <iDynInv.h>

+ Inheritance diagram for iCub::iDyn::SensorLinkNewtonEuler:

Public Member Functions

 SensorLinkNewtonEuler (const NewEulMode _mode, unsigned int verb=iCub::skinDynLib::NO_VERBOSE)
 Default constructor. More...
 
 SensorLinkNewtonEuler (const yarp::sig::Matrix &_H, const yarp::sig::Matrix &_COM, const double _m, const yarp::sig::Matrix &_I, const NewEulMode _mode, unsigned int verb=iCub::skinDynLib::NO_VERBOSE)
 Constructor. More...
 
virtual ~SensorLinkNewtonEuler ()
 Destructor. More...
 
bool setMeasuredFMu (const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu)
 Set the sensor measured force/moment - if measured by a FT sensor. More...
 
bool setSensor (const yarp::sig::Matrix &_H, const yarp::sig::Matrix &_HC, const double _m, const yarp::sig::Matrix &_I)
 Set a new sensor or new sensor properties. More...
 
void ForwardAttachToLink (iDynLink *link)
 Compute w,dw,ddp,dppC given the reference frame of the link where the sensor is. More...
 
void BackwardAttachToLink (iDynLink *link)
 Compute F,Mu given the reference frame of the link where the sensor is. More...
 
void ForwardForcesMomentsToLink (iDynLink *link)
 Forward the sensor forces and moments, measured by the sensor, to the reference frame of the link where the sensor is: this method is the base for the inverse Newton-Euler algorithm, since it forwards the sensor measurements to the iDynChain. More...
 
yarp::sig::Vector getForceMoment () const
 Get the sensor force and moment in a single (6x1) vector. More...
 
const yarp::sig::Vector & getAngVel () const
 
const yarp::sig::Vector & getAngAcc () const
 
const yarp::sig::Vector & getLinAcc () const
 
const yarp::sig::Vector & getLinAccC () const
 
const yarp::sig::Vector & getForce () const
 
const yarp::sig::Vector & getMoment (bool isBase=false) const
 
double getIm () const
 
double getFs () const
 
double getFv () const
 
double getD2q () const
 
double getDq () const
 
double getKr () const
 
const yarp::sig::Vector & getAngAccM () const
 
double getTorque () const
 
const yarp::sig::Matrix & getH () const
 
double getMass () const
 
const yarp::sig::Matrix & getInertia () const
 
const yarp::sig::Matrix & getR ()
 
const yarp::sig::Matrix & getRC ()
 
const yarp::sig::Vector & getr (bool proj=false)
 
const yarp::sig::Vector & getrC (bool proj=false)
 
bool setForce (const yarp::sig::Vector &_F)
 Set the OneLink force: either the corresponding iDynLink force, or the one declared as member in the child classes derived from OneLink, such as SensorLink. More...
 
bool setMoment (const yarp::sig::Vector &_Mu)
 Set the OneLink moment: either the corresponding iDynLink moment, or the one declared as member in the child classes derived from OneLink, such as SensorLink. More...
 
void setTorque (const double _Tau)
 Set the OneLink torque, ie the corresponding iDynLink joint torque (nothing in the child classes derived from OneLink, such as SensorLink) More...
 
bool setAngVel (const yarp::sig::Vector &_w)
 Set the OneLink angular velocity (w), ie the corresponding iDynLink angular velocity (w) (in the child classes derived from OneLink, it depends) More...
 
bool setAngAcc (const yarp::sig::Vector &_dw)
 Set the OneLink angular acceleration (dw), ie the corresponding iDynLink angular acceleration (dw) (in the child classes derived from OneLink, it depends) More...
 
bool setLinAcc (const yarp::sig::Vector &_ddp)
 Set the OneLink linear acceleration (ddp), ie the corresponding iDynLink linear acceleration (ddp) (in the child classes derived from OneLink, it depends) More...
 
bool setLinAccC (const yarp::sig::Vector &_ddpC)
 Set the OneLink linear acceleration of the COM (ddpC), ie the corresponding iDynLink linear acceleration of the COM (ddpC) (nothing in the child classes derived from OneLink, except for SensorLink) More...
 
bool setAngAccM (const yarp::sig::Vector &_dwM)
 Set the OneLink angular acceleration of the motor (dwM), ie the corresponding iDynLink angular acceleration of the COM (dwM) (nothing in the child classes derived from OneLink) More...
 
std::string toString () const
 Useful to print some information. More...
 
void computeAngVel (iDynLink *link)
 
void computeAngAcc (iDynLink *link)
 
void computeLinAcc (iDynLink *link)
 
void computeLinAccC ()
 
void computeForce (iDynLink *link)
 
void computeMoment (iDynLink *link)
 
void computeForceToLink (iDynLink *link)
 
void computeMomentToLink (iDynLink *link)
 
virtual std::string getType () const
 
- Public Member Functions inherited from iCub::iDyn::OneLinkNewtonEuler
 OneLinkNewtonEuler (iDyn::iDynLink *dlink=NULL)
 Default constructor. More...
 
 OneLinkNewtonEuler (const NewEulMode _mode, unsigned int verb=iCub::skinDynLib::NO_VERBOSE, iDyn::iDynLink *dlink=NULL)
 Constructor, with initialization of some data. More...
 
virtual ~OneLinkNewtonEuler ()
 Destructor. More...
 
void zero ()
 Set everything to zero; R is set to an identity matrix. More...
 
virtual bool setAsBase (const yarp::sig::Vector &_w, const yarp::sig::Vector &_dw, const yarp::sig::Vector &_ddp)
 Virtual method to set the frame as the base one: this is useful to initialize the forward phase of Newton-Euler's method. More...
 
virtual bool setAsBase (const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu)
 
virtual bool setAsFinal (const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu)
 Set the frame as the final one: this is useful to initialize the backward phase of Newton-Euler's method, by setting F and Mu; R is an identity matrix. More...
 
virtual bool setAsFinal (const yarp::sig::Vector &_w, const yarp::sig::Vector &_dw, const yarp::sig::Vector &_ddp)
 Set the frame as the final one: this is useful to initialize the backward phase of Euler's method, by setting w, dw and ddp; R is an identity matrix. More...
 
virtual bool setMeasuredTorque (const double _Tau)
 Set measured torque in a joint torque sensor frame
More...
 
void setVerbose (unsigned int verb=iCub::skinDynLib::VERBOSE)
 Set the verbosity level of comments during operations. More...
 
void setMode (const NewEulMode _mode)
 Set the operation mode (static,dynamic etc) More...
 
bool setZM (const yarp::sig::Vector &_zm)
 Set the zM vector. More...
 
void setInfo (const std::string &_info)
 Set some information about this OneLink class. More...
 
NewEulMode getMode () const
 
yarp::sig::Vector getZM () const
 
std::string getInfo () const
 
virtual const yarp::sig::Matrix & getH ()
 
void ForwardKinematics (OneLinkNewtonEuler *prev)
 [Forward Newton-Euler] Compute w, dw, ddp, ddpC, dwM More...
 
void BackwardKinematics (OneLinkNewtonEuler *prev)
 [Backward Kinematic computation] Compute w, dw, ddp, ddpC, dwM More...
 
void BackwardWrench (OneLinkNewtonEuler *next)
 [Backward Newton-Euler] Compute F, Mu, Tau More...
 
void ForwardWrench (OneLinkNewtonEuler *prev)
 [Inverse Newton-Euler] Compute F, Mu, Tau More...
 
virtual void computeTorque (OneLinkNewtonEuler *prev)
 [all] Compute joint torque; moment must be pre-computed More...
 

Protected Attributes

yarp::sig::Vector F
 measured or estimated force More...
 
yarp::sig::Vector Mu
 measured or estimated moment More...
 
yarp::sig::Vector w
 angular velocity More...
 
yarp::sig::Vector dw
 angular acceleration More...
 
yarp::sig::Vector ddp
 linear acceleration More...
 
yarp::sig::Vector ddpC
 linear acceleration of the COM More...
 
yarp::sig::Matrix H
 the roto-translational matrix from the i-th link to the sensor: it's the matrix describing the sensor position and orientation with respect to the frame of the link where the sensor is placed on More...
 
yarp::sig::Matrix COM
 the roto-translational matrix of the COM of the semi-link (bewteen sensor and ith link frame) More...
 
yarp::sig::Matrix I
 the semi-link inertia More...
 
double m
 the semi-link mass (the portion of link defined by the sensor) More...
 
yarp::sig::Matrix R
 
yarp::sig::Matrix RC
 
yarp::sig::Vector r
 
yarp::sig::Vector r_proj
 
yarp::sig::Vector rc
 
yarp::sig::Vector rc_proj
 
const yarp::sig::Vector zeros0
 
- Protected Attributes inherited from iCub::iDyn::OneLinkNewtonEuler
NewEulMode mode
 STATIC/DYNAMIC/DYNAMIC_W_ROTOR/DYNAMIC_CORIOLIS_GRAVITY. More...
 
std::string info
 info or useful notes More...
 
unsigned int verbose
 verbosity flag More...
 
yarp::sig::Vector z0
 z0=[0 0 1]' More...
 
yarp::sig::Vector zm
 z^{i-1}_{m_{i}} versor rotating solidally with link i, projected in frame i ==>> constant More...
 
iDyn::iDynLinklink
 the corresponding iDynLink More...
 

Additional Inherited Members

- Protected Member Functions inherited from iCub::iDyn::OneLinkNewtonEuler
void computeAngVel (OneLinkNewtonEuler *prev)
 [Forward Newton-Euler] compute angular velocity of the link More...
 
void computeAngVelBackward (OneLinkNewtonEuler *prev)
 [Forward Newton-Euler] compute angular velocity of the previous link frame More...
 
void computeAngAcc (OneLinkNewtonEuler *prev)
 [Forward Newton-Euler] compute angular acceleration of the link More...
 
void computeAngAccBackward (OneLinkNewtonEuler *prev)
 [Forward Newton-Euler] compute angular acceleration of the previous link frame More...
 
void computeLinAcc (OneLinkNewtonEuler *prev)
 [Forward Newton-Euler] compute linear acceleration of the reference frame of the link More...
 
void computeLinAccBackward (OneLinkNewtonEuler *prev)
 [Forward Newton-Euler] compute linear acceleration of the reference frame of the previous link More...
 
void computeLinAccC ()
 [Forward Newton-Euler] compute linear acceleration of the center of mass More...
 
void computeAngAccM (OneLinkNewtonEuler *prev)
 [Forward Newton-Euler] compute angular acceleration of the rotor More...
 
void computeForceBackward (OneLinkNewtonEuler *next)
 [Backward Newton-Euler] compute force from the following link More...
 
void computeForceForward (OneLinkNewtonEuler *prev)
 [Inverse Newton-Euler] compute force from the previous link More...
 
void computeMomentBackward (OneLinkNewtonEuler *next)
 [Backward Newton-Euler] compute moment from the following link More...
 
void computeMomentForward (OneLinkNewtonEuler *prev)
 [Inverse Newton-Euler] compute moment from the previous link More...
 

Detailed Description

A class for setting a virtual sensor link. This class is used to initialize the forward and backward phase of Newton-Euler's method in the Inverse formulation, but also to have estimation of the FT measures by the sensor; the sensor frame is defined with respect to the i-th link, where the sensor is attached. Note that this is a virtual link, since there's no iDynLink attached: it is just necessary to make the recursive Inverse Newton-Euler computations; however, inertia, mass and COM are defined, for the portion of link defined between sensor and i-th frame.

Definition at line 718 of file iDynInv.h.

Constructor & Destructor Documentation

◆ SensorLinkNewtonEuler() [1/2]

SensorLinkNewtonEuler::SensorLinkNewtonEuler ( const NewEulMode  _mode,
unsigned int  verb = iCub::skinDynLib::NO_VERBOSE 
)

Default constructor.

Parameters
_modethe analysis mode (static/dynamic)
verbflag for verbosity

Definition at line 1229 of file iDynInv.cpp.

◆ SensorLinkNewtonEuler() [2/2]

iCub::iDyn::SensorLinkNewtonEuler::SensorLinkNewtonEuler ( const yarp::sig::Matrix &  _H,
const yarp::sig::Matrix &  _COM,
const double  _m,
const yarp::sig::Matrix &  _I,
const NewEulMode  _mode,
unsigned int  verb = iCub::skinDynLib::NO_VERBOSE 
)

Constructor.

Parameters
_modethe analysis mode (static/dynamic)
verbflag for verbosity

◆ ~SensorLinkNewtonEuler()

virtual iCub::iDyn::SensorLinkNewtonEuler::~SensorLinkNewtonEuler ( )
inlinevirtual

Destructor.

Definition at line 770 of file iDynInv.h.

Member Function Documentation

◆ BackwardAttachToLink()

void SensorLinkNewtonEuler::BackwardAttachToLink ( iDynLink link)

Compute F,Mu given the reference frame of the link where the sensor is.

Parameters
linkthe iDynLink class of the same link

Definition at line 1334 of file iDynInv.cpp.

◆ computeAngAcc()

void SensorLinkNewtonEuler::computeAngAcc ( iDynLink link)

Definition at line 1512 of file iDynInv.cpp.

◆ computeAngVel()

void SensorLinkNewtonEuler::computeAngVel ( iDynLink link)

Definition at line 1507 of file iDynInv.cpp.

◆ computeForce()

void SensorLinkNewtonEuler::computeForce ( iDynLink link)

Definition at line 1555 of file iDynInv.cpp.

◆ computeForceToLink()

void SensorLinkNewtonEuler::computeForceToLink ( iDynLink link)

Definition at line 1562 of file iDynInv.cpp.

◆ computeLinAcc()

void SensorLinkNewtonEuler::computeLinAcc ( iDynLink link)

Definition at line 1517 of file iDynInv.cpp.

◆ computeLinAccC()

void SensorLinkNewtonEuler::computeLinAccC ( )

Definition at line 1537 of file iDynInv.cpp.

◆ computeMoment()

void SensorLinkNewtonEuler::computeMoment ( iDynLink link)

Definition at line 1612 of file iDynInv.cpp.

◆ computeMomentToLink()

void SensorLinkNewtonEuler::computeMomentToLink ( iDynLink link)

Definition at line 1570 of file iDynInv.cpp.

◆ ForwardAttachToLink()

void SensorLinkNewtonEuler::ForwardAttachToLink ( iDynLink link)

Compute w,dw,ddp,dppC given the reference frame of the link where the sensor is.

Parameters
linkthe iDynLink class of the same link

Definition at line 1326 of file iDynInv.cpp.

◆ ForwardForcesMomentsToLink()

void SensorLinkNewtonEuler::ForwardForcesMomentsToLink ( iDynLink link)

Forward the sensor forces and moments, measured by the sensor, to the reference frame of the link where the sensor is: this method is the base for the inverse Newton-Euler algorithm, since it forwards the sensor measurements to the iDynChain.

Parameters
linkthe iDynLink class of the same link

Definition at line 1340 of file iDynInv.cpp.

◆ getAngAcc()

const Vector & SensorLinkNewtonEuler::getAngAcc ( ) const
virtual
Returns
dw = angular acceleration (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1358 of file iDynInv.cpp.

◆ getAngAccM()

const Vector & SensorLinkNewtonEuler::getAngAccM ( ) const
virtual
Returns
dwM = angular acceleration of the rotor (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1392 of file iDynInv.cpp.

◆ getAngVel()

const Vector & SensorLinkNewtonEuler::getAngVel ( ) const
virtual
Returns
w = angular velocity (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1356 of file iDynInv.cpp.

◆ getD2q()

double SensorLinkNewtonEuler::getD2q ( ) const
virtual
Returns
ddq = d2q = joint acceleration

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1389 of file iDynInv.cpp.

◆ getDq()

double SensorLinkNewtonEuler::getDq ( ) const
virtual
Returns
dq = dq = joint velocity

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1390 of file iDynInv.cpp.

◆ getForce()

const Vector & SensorLinkNewtonEuler::getForce ( ) const
virtual
Returns
F = force (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1352 of file iDynInv.cpp.

◆ getForceMoment()

Vector SensorLinkNewtonEuler::getForceMoment ( ) const

Get the sensor force and moment in a single (6x1) vector.

Returns
a (6x1) vector where 0:2=force 3:5=moment

Definition at line 1650 of file iDynInv.cpp.

◆ getFs()

double SensorLinkNewtonEuler::getFs ( ) const
virtual
Returns
Fs = static friction

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1387 of file iDynInv.cpp.

◆ getFv()

double SensorLinkNewtonEuler::getFv ( ) const
virtual
Returns
Fv = viscous friction

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1388 of file iDynInv.cpp.

◆ getH()

const Matrix & SensorLinkNewtonEuler::getH ( ) const

Definition at line 1394 of file iDynInv.cpp.

◆ getIm()

double SensorLinkNewtonEuler::getIm ( ) const
virtual
Returns
Im

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1386 of file iDynInv.cpp.

◆ getInertia()

const Matrix & SensorLinkNewtonEuler::getInertia ( ) const
virtual
Returns
I = inertia of the link

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1366 of file iDynInv.cpp.

◆ getKr()

double SensorLinkNewtonEuler::getKr ( ) const
virtual
Returns
Kr

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1391 of file iDynInv.cpp.

◆ getLinAcc()

const Vector & SensorLinkNewtonEuler::getLinAcc ( ) const
virtual
Returns
ddp = d2p = linear acceleration (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1360 of file iDynInv.cpp.

◆ getLinAccC()

const Vector & SensorLinkNewtonEuler::getLinAccC ( ) const
virtual
Returns
ddpC = d2pC = linear acceleration of the center of mass (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1362 of file iDynInv.cpp.

◆ getMass()

double SensorLinkNewtonEuler::getMass ( ) const
virtual
Returns
m = mass of the link

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1364 of file iDynInv.cpp.

◆ getMoment()

const Vector & SensorLinkNewtonEuler::getMoment ( bool  isBase = false) const
virtual
Returns
Mu = moment (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1354 of file iDynInv.cpp.

◆ getR()

const Matrix & SensorLinkNewtonEuler::getR ( )
virtual
Returns
R = (3x3) rotational matrix from the Denavit-Hartenberg roto-translational matrix describing the link

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1368 of file iDynInv.cpp.

◆ getr()

const Vector & SensorLinkNewtonEuler::getr ( bool  proj = false)
virtual
Returns
r = (3x1) distance vector from the Denavit-Hartenberg roto-translational matrix describing the distance vector between frames and <i-1>

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1372 of file iDynInv.cpp.

◆ getRC()

const Matrix & SensorLinkNewtonEuler::getRC ( )
virtual
Returns
RC = (3x3) rotational matrix from the roto-translational matrix of the link COM

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1370 of file iDynInv.cpp.

◆ getrC()

const Vector & SensorLinkNewtonEuler::getrC ( bool  proj = false)
virtual
Returns
rC = (3x1) distance vector from the roto-translational matrix of the link COM, describing the distance vector between COM and frame

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1379 of file iDynInv.cpp.

◆ getTorque()

double SensorLinkNewtonEuler::getTorque ( ) const
virtual
Returns
Tau = torque (1x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1393 of file iDynInv.cpp.

◆ getType()

string SensorLinkNewtonEuler::getType ( ) const
virtual

Reimplemented in iCub::iDyn::iCubLegSensorLink, and iCub::iDyn::iCubArmSensorLink.

Definition at line 1658 of file iDynInv.cpp.

◆ setAngAcc()

bool SensorLinkNewtonEuler::setAngAcc ( const yarp::sig::Vector &  _dw)
virtual

Set the OneLink angular acceleration (dw), ie the corresponding iDynLink angular acceleration (dw) (in the child classes derived from OneLink, it depends)

Parameters
_dwangular acceleration

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1446 of file iDynInv.cpp.

◆ setAngAccM()

bool SensorLinkNewtonEuler::setAngAccM ( const yarp::sig::Vector &  _dwM)
virtual

Set the OneLink angular acceleration of the motor (dwM), ie the corresponding iDynLink angular acceleration of the COM (dwM) (nothing in the child classes derived from OneLink)

Parameters
_dwMangular acceleration of the motor

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1494 of file iDynInv.cpp.

◆ setAngVel()

bool SensorLinkNewtonEuler::setAngVel ( const yarp::sig::Vector &  _w)
virtual

Set the OneLink angular velocity (w), ie the corresponding iDynLink angular velocity (w) (in the child classes derived from OneLink, it depends)

Parameters
_wangular velocity

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1430 of file iDynInv.cpp.

◆ setForce()

bool SensorLinkNewtonEuler::setForce ( const yarp::sig::Vector &  _F)
virtual

Set the OneLink force: either the corresponding iDynLink force, or the one declared as member in the child classes derived from OneLink, such as SensorLink.

Parameters
_Fa (3x1) vector of forces
Returns
true if size is correct, false otherwise

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1396 of file iDynInv.cpp.

◆ setLinAcc()

bool SensorLinkNewtonEuler::setLinAcc ( const yarp::sig::Vector &  _ddp)
virtual

Set the OneLink linear acceleration (ddp), ie the corresponding iDynLink linear acceleration (ddp) (in the child classes derived from OneLink, it depends)

Parameters
_ddplinear acceleration

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1462 of file iDynInv.cpp.

◆ setLinAccC()

bool SensorLinkNewtonEuler::setLinAccC ( const yarp::sig::Vector &  _ddpC)
virtual

Set the OneLink linear acceleration of the COM (ddpC), ie the corresponding iDynLink linear acceleration of the COM (ddpC) (nothing in the child classes derived from OneLink, except for SensorLink)

Parameters
_ddpClinear acceleration of the COM

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1478 of file iDynInv.cpp.

◆ setMeasuredFMu()

bool SensorLinkNewtonEuler::setMeasuredFMu ( const yarp::sig::Vector &  _F,
const yarp::sig::Vector &  _Mu 
)
virtual

Set the sensor measured force/moment - if measured by a FT sensor.

Parameters
_Fthe final force
_Muthe final moment
Returns
true if dimensions are correct, false otherwise

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1260 of file iDynInv.cpp.

◆ setMoment()

bool SensorLinkNewtonEuler::setMoment ( const yarp::sig::Vector &  _Mu)
virtual

Set the OneLink moment: either the corresponding iDynLink moment, or the one declared as member in the child classes derived from OneLink, such as SensorLink.

Parameters
_Mua 3x1 vector of moments
Returns
true if size is correct, false otherwise

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1412 of file iDynInv.cpp.

◆ setSensor()

bool SensorLinkNewtonEuler::setSensor ( const yarp::sig::Matrix &  _H,
const yarp::sig::Matrix &  _HC,
const double  _m,
const yarp::sig::Matrix &  _I 
)

Set a new sensor or new sensor properties.

Parameters
_Hthe roto-traslational matrix from the reference frame of the i-th link to the sensor
_HCthe roto-traslational matrix of the center of mass of the semi-link defined by the sensor in the i-th link
_mthe mass of the semi-link
_Ithe inertia of the semi-link

Definition at line 1280 of file iDynInv.cpp.

◆ setTorque()

void SensorLinkNewtonEuler::setTorque ( const double  _Tau)
virtual

Set the OneLink torque, ie the corresponding iDynLink joint torque (nothing in the child classes derived from OneLink, such as SensorLink)

Parameters
_Taua real torque value

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1428 of file iDynInv.cpp.

◆ toString()

string SensorLinkNewtonEuler::toString ( ) const
virtual

Useful to print some information.

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1310 of file iDynInv.cpp.

Member Data Documentation

◆ COM

yarp::sig::Matrix iCub::iDyn::SensorLinkNewtonEuler::COM
protected

the roto-translational matrix of the COM of the semi-link (bewteen sensor and ith link frame)

Definition at line 737 of file iDynInv.h.

◆ ddp

yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::ddp
protected

linear acceleration

Definition at line 731 of file iDynInv.h.

◆ ddpC

yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::ddpC
protected

linear acceleration of the COM

Definition at line 733 of file iDynInv.h.

◆ dw

yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::dw
protected

angular acceleration

Definition at line 729 of file iDynInv.h.

◆ F

yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::F
protected

measured or estimated force

Definition at line 722 of file iDynInv.h.

◆ H

yarp::sig::Matrix iCub::iDyn::SensorLinkNewtonEuler::H
protected

the roto-translational matrix from the i-th link to the sensor: it's the matrix describing the sensor position and orientation with respect to the frame of the link where the sensor is placed on

Definition at line 735 of file iDynInv.h.

◆ I

yarp::sig::Matrix iCub::iDyn::SensorLinkNewtonEuler::I
protected

the semi-link inertia

Definition at line 739 of file iDynInv.h.

◆ m

double iCub::iDyn::SensorLinkNewtonEuler::m
protected

the semi-link mass (the portion of link defined by the sensor)

Definition at line 741 of file iDynInv.h.

◆ Mu

yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::Mu
protected

measured or estimated moment

Definition at line 724 of file iDynInv.h.

◆ R

yarp::sig::Matrix iCub::iDyn::SensorLinkNewtonEuler::R
protected

Definition at line 743 of file iDynInv.h.

◆ r

yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::r
protected

Definition at line 745 of file iDynInv.h.

◆ r_proj

yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::r_proj
protected

Definition at line 746 of file iDynInv.h.

◆ RC

yarp::sig::Matrix iCub::iDyn::SensorLinkNewtonEuler::RC
protected

Definition at line 744 of file iDynInv.h.

◆ rc

yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::rc
protected

Definition at line 747 of file iDynInv.h.

◆ rc_proj

yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::rc_proj
protected

Definition at line 748 of file iDynInv.h.

◆ w

yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::w
protected

angular velocity

Definition at line 727 of file iDynInv.h.

◆ zeros0

const yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::zeros0
protected

Definition at line 749 of file iDynInv.h.


The documentation for this class was generated from the following files: